Metronix APD (Serial)

This driver provides a software interface and communication protocol between Xpanel and the Metronix APD servo controller.

Communication Setup: Xpanel

Create a new device

To create a new device, select [Tools] → [I/O Devices] or click the icon in the toolbar. The following picture shows the first step in creating a new device:

I/O Device Name: Give a device name. This name will be used in the tag database, accompanied by the ‘Station Name’.

Select a device type

After selecting the [OK] button in the previous step, the ‘Serial Communication Configuration’ dialog box will appear as shown in the following picture:

In this window, set the ‘Device Type’ to 'Metronix APD' and configure the remaining communication parameters. Ensure that these parameters are matched with the device’s configuration. See the Communication Configuration section for more information.

Create a station

Move to the [Station] tab of the ‘Serial Communication Configuration’ dialog box. In this dialog box, connected PLC stations can be configured and registered to the Xpanel.

Each field can be configured with the following rules:

Station Name: Give a name to the Device. This name will be used in the tag database, accompanied by the ‘Device Name’.

Station Type: Choose the ‘APD-VS Series’ (this is the only available option).

Network ID: N/A

Station No: Choose a decimal number between 0 and 254. This number must match the one chosen for the device.

See the Communication Configuration section for more information about the remaining parameters.

Address Notation

Menu Data Address Configuration

Device	Description	Word		Bit	Access
		UINT32	INT32
%MD	Menu Data	%MD000 - %MD999		%MD000.0 - %MD000.31 - %MD999.0 - %MD999.31	R/W
AI	Servo State	AI000 - AI012		AI000.0 - AI000.31 - AI012.0 - AI012.31	R
DO	Operation	-		DO000 - DO011	R/W
AO		AO000 - AO012		-	R/W

Examples:
- Current Sate Pd-001 → %MD000
- Current Speed Pd-002 → %MD001
- Command Speed Pd-003 → %MD002

Servo State Check Address Configuration

Address	Description
AI0	Current Speed
AI1	Command Speed
AI2	Current Pulse
AI3	Command Pulse
AI4	Current Load
AI5	Peak Load
AI6	I/O State
AI7	DC Volt
AI8	Speed Refer
AI9	Speed Feedback
AI10	Torque Refer
AI11	Torque Feedback
AI12	Servo State

Servo State Set Address Configuration: Digital

Address	Description
DO0	Alarm Reset
DO1	Alarm History Clear
DO2	Menu Initialize
DO3	Current Offset Store
DO4	I/O State Initialization

Speed-Based Driving

Address	Description	Tag Type
DO5	Direction	Digital
DO6	Write: Speed, Acc & Dec time, Time	Digital
AO000	Speed	Analog
AO001	Current offset store	Analog
AO002	I/O State initialization	Analog
AO003	Time	Analog

Notes:
- Direction: Configure rotation direction of the motor
  - 0: CCW
  - 1: CW
- Speed: Configure driving speed
  - unit: 9999.9 r/min
- Acceleration time: Configure time needed to reach set speed via acceleration
  - unit: 99.99
- Deceleration time: Configure time needed to reach set speed via deceleration
  - unit: 99.99
- Time: Configure the driving time needed to go from start to stop.
  - unit: 9999
- After configuring direction, speed, acceleration time, and deceleration time, you must write a digital value to the D06 address. Then, the speed and acc/dec times will be written to the program.
- To show floating-point data, configure the data scaling options in the tag database:

Position-Based Driving

Address	Description	Tag Type
DO7	Write: Position, Speed, Acc & Dec Time	Digital
AO004	Position	Digital
AO005	Speed	Analog
AO006	Acceleration	Analog
AO007	Time	Analog

Notes:
- Direction: Configure rotation direction of the motor
  - 0: CCW
  - 1: CW
- Speed: Configure driving speed
  - unit: 9999.9 r/min
- Acceleration time: Configure time needed to reach set speed via acceleration
  - unit: 99.99
- Deceleration time: Configure time needed to reach set speed via deceleration
  - unit: 99.99
- Time: Configure the driving time from start to stop.
  - unit: 9999
- After configuring direction, position, speed, acceleration time, and deceleration time, you must write a positive digital value to the D07 address. Then, the position, speed, and acc/dec times will be written to the program.
- To show floating-point data, configure the data scaling options in the tag database (see image in notes above).

Gain Tuning

Address	Description	Tag Type
DO011	Write: Speed, Distance, Tuning range	Digital
AO010	Speed	Analog
AO011	Distance	Analog
AO012	Tuning range	Analog

Commands/Overview

Command	Address	Description	Remark
Menu Data	%MD000 - %MD999	Menu Data	R/W
State Setting	DO0	Alarm Reset	W
	DO1	Alarm History Clear
	DO2	Menu Initialize
	DO3	Current offset Save
	DO4	I/O State Initialize
Servo State Check	AI0	Current Speed	R
	AI1	Command Speed
	AI2	Current Pulse
	AI3	Command Pulse
	AI4	Current Load
	AI5	Peak Load
	AI6	I/O State
	AI7	DC Voltage
	AI8	Speed Refer
	AI9	Speed Feedback
	AI10	Torque Refer
	AI11	Torque Feedback
	AI12	Servo State
Speed	DO5	Direction	W
	DO6	Write: Speed, Acc Time, Dec Time
	AO000	Speed
	AO001	Acceleration Time
	AO002	Deceleration Time
	AO003	Driving Time
Position	DO7	Write: Pos, Speed, Acc/Dec Time	W
	AO004	Position
	AO005	Speed
	AO006	Acceleration Time
	AO007	Deceleration Time
Auto Driving	DO8	Auto Driving	W
Stop	AO008	After stopping, program information will reset	W
Emergency Stop	DO9	Emergency Stop	W
Time	AO009	When driving starts after stopping, driving will be continuous	W
Start Point Driving	DO10	Start Point Driving based on the configured parameters	W
Gain Tuning	DO11	Write: Speed, Distance, Tuning range	W
	AO010	Speed
	AO011	Distance
	AO012	Tuning range